Transporter and transport method

ABSTRACT

According to one embodiment, a transporter includes a first conveyor and a second conveyor. The first conveyor receives an object that is carried by an arm device and conveys the object in a first direction. The second conveyor is configured to receive and convey the object from the first conveyor and is movable in a second direction that crosses the first direction.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority from Japanese Patent Application No.2015-217790 filed on Nov. 5, 2015, the contents of which areincorporated herein by reference in their entirety.

FIELD

Embodiments described herein relate generally to a transporter and atransport method.

BACKGROUND

A transporter which takes out an object from a pallet is known.

In some cases, it is difficult for such transporters to convey an objectat a high speed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are views showing a transporter of a first embodiment.

FIG. 2 is a block diagram showing a part of a system configuration ofthe transporter of the first embodiment.

FIG. 3 is a side view showing an example of a transport method of thetransporter of the first embodiment.

FIGS. 4A and 4B are views showing a transporter of a second embodiment.

FIG. 5 is a side view showing a shock absorber of the second embodiment.

FIGS. 6A and 6B are side views showing a transporter of a thirdembodiment.

FIGS. 7A and 7B are side views showing a transporter of a fourthembodiment.

FIGS. 8A and 8B are views showing a transporter of a fifth embodiment.

FIGS. 9A and 9B are views showing an operation example of thetransporter of the fifth embodiment.

FIG. 10 is a plan view showing another operation example of thetransporter of the fifth embodiment.

FIGS. 11A to 11C are plan views showing a transporter of a sixthembodiment.

FIG. 12 is a side view showing a separator of the sixth embodiment.

FIG. 13 is a plan view showing a transporter of a seventh embodiment.

FIGS. 14A and 14B are plan views showing a transporter of an eighthembodiment.

FIGS. 15A and 15B are views showing a transporter of one referenceembodiment.

DETAILED DESCRIPTION

According to one embodiment, a transporter includes a first conveyor anda second conveyor. The first conveyor receives an object that is carriedby an arm device and conveys the object in a first direction. The secondconveyor is configured to receive and convey the object from the firstconveyor and is movable in a second direction that crosses the firstdirection.

Hereinafter, transporters and transport methods of embodiments will bedescribed with reference to the drawings. Moreover, in the followingdescription, the configurations having the same or similar functionswill be assigned by the same reference numerals. Redundant descriptionsmay be omitted.

First Embodiment

A first embodiment will be described with reference to FIGS. 1 to 3.

FIGS. 1A and 1B are views showing a transporter 1 of the embodiment. Inaddition, FIG. 1A is a plan view showing the transporter 1. FIG. 1B is aside view showing the transporter 1.

As shown in FIGS. 1A and 1B, for example, the transporter 1 is anautomatic unloading apparatus. The transporter 1 takes out an object(object to be conveyed and object to be held) M placed on a firstplacement section (first load section) and moves the object to a secondplacement section (second load section). The transporter 1 may bereferred to as a “cargo handling apparatus”. The object M conveyed bythe transporter 1 is not limited to a packaged baggage, and may becomponents on a manufacturing line. The transporter 1 and the transportmethod of the embodiment can be widely applied to a logistic automaticinput device, an object supply apparatus of factory, or the like.

In the embodiment, the first placement section is a box pallet 3. Forexample, the box pallet 3 is a roll box pallet (RBP) having wheels. Onthe other hand, the second placement section is a belt conveyor 4. Thetransporter 1 and the belt conveyor 4 are fixed to a floor surface.However, the transporter 1 can be moved by wheels, rails, or the like.In addition, each of the first placement section and the secondplacement section is not limited to the above-described examples, andfor example, may be any of a belt conveyor, a dolly, a pallet, aworkbench, or the like. In addition, hereinafter, for convenience ofdescription, the belt conveyor 4 is referred to as an “input conveyor4”.

Here, for convenience of description, a +X-direction, a −X-direction, aY-direction, and a Z-direction are defined as follows. For example, the+X-direction, the −X-direction, and the Y-direction are directions alonga substantially horizontal surface. The +X-direction is a direction fromthe transporter 1 toward the first placement section. The −X-directionis a direction opposite to the +X-direction. The Y-direction is adirection (for example, a direction substantially orthogonal to the+X-direction) that crosses the +X-direction, and is a width direction ofthe object M, for example. The Z-direction is a direction (for example,a direction substantially orthogonal to the +X-direction and theY-direction) that crosses the +X-direction and the Y-direction, and is asubstantially vertical and downward direction, for example.

In addition, in the following description, an “upstream” and a“downstream” mean the “upstream” and the “downstream” in the conveyancedirection of the object M.

As shown in FIGS. 1A and 1B, the transporter 1 includes a base 11, anarm device 12, a holder (retainer) 13, a first conveyor 14, a secondconveyor 15, and a controller 16.

The base (main frame) 11 is provided on a floor surface. The base 11includes a plurality of supports 21 extending in the Z-direction and isformed in a frame shape, for example. The plurality of supports 21includes a pair of first supports 21 a and a pair of second supports 21b. The pair of first supports 21 a is disposed to be divided into bothsides in the Y-direction of the first conveyor 14. The pair of secondsupports 21 b is disposed to be divided into both sides in theY-direction of the second conveyor 15.

For example, the arm device 12 is an orthogonal robot arm and is anexample of a multi joint arm. The arm device 12 is connected to the base11. For example, the arm device 12 includes a first member 12 a, asecond member 12 b, and a third member 12 c. The first member 12 a isguided by a guide which is provided on the base 11, and is movable (canbe lifted and lowered) along the Z-direction. The second member 12 b issupported and guided by the first member 12 a, and is movable along theY-direction. The third member 12 c is supported and guided by the secondmember 12 b, and is movable in the +X-direction and −X direction. Theholder 13 described below is attached to the tip of the arm device 12.The arm device 12 moves the holder 13 to a desired position in the+X-direction (−X-direction), Y-direction, and Z-direction.

In addition, the “arm device” referred to in the embodiments broadlymeans a member which moves the holder 13 to a desired position and isnot necessarily limited to a rod-shaped member. The arm device 12 may bereferred to as a “driver” or a “moving mechanism” which moves the holder13. In addition, the “object carried by the arm device” referred to inthe embodiments includes an object which is held by the holder attachedto the arm device so as to be carried.

The holder 13 is an end effector which can hold the object M. An exampleof the holder 13 includes a plurality of suckers which are connected toa vacuum pump, and a solenoid valve which controls suction operations ofthe suckers. The suckers, which are in contact with the object M, arevacuum-suctioned, and thus, the holder 13 holds (retains) the object M.In addition, the holder 13 is not limited to the suction, and may be anyone as long as it can hold the object M by clamping the object M. Inaddition, the “retain” referred to in the embodiments is used in a broadmeaning of “taking an object” and is not limited to a meaning such as“mechanically retain”.

The holder 13 is moved toward the box pallet 3 by the arm device 12 andholds the object M placed on the box pallet 3. In addition, the holder13 is moved by the arm device 12 and the holder 13 carries the heldobject M to the first conveyor 14. The holder 13 releases the holdingwith respect to the object M in a state where the holder 13 moves theobject M to the first conveyor 14. Accordingly, the transporter 1 movesthe object M placed on the box pallet 3 to the first conveyor 14. Inaddition, the holder 13 can simultaneously hold the plurality of objectsM. That is, the holder 13 simultaneously holds the plurality of objectsM, and may carry the plurality of objects M from the box pallet 3 to thefirst conveyor 14 once.

The first conveyor 14 is positioned between the box pallet 3 and theinput conveyor (third conveyor) 4 in the −X-direction. The firstconveyor 14 is provided on the base 11, and is positioned below at leasta portion of the arm device 12. The first conveyor 14 is connected tothe base 11 and is supported by the base 11.

For example, the first conveyor 14 is a belt conveyor. The firstconveyor 14 is disposed toward the input conveyor 4. That is, the firstconveyor 14 has a conveyance surface (upper surface) 14 a which movestoward the input conveyor 4. The first conveyor 14 receives the object Mcarried by the arm device 12, and conveys the object M in the−X-direction. The −X-direction is an example of the “first direction”and is an example of the “conveyance direction”. The first conveyor 14may have a width capable of simultaneously conveying the plurality ofobjects M arranged in the Y-direction.

The first conveyor 14 of the embodiment is a lift conveyor which ismovable along the Z-direction.

For example, the first conveyor 14 is connected to the first supports 21a of the base 11. The first conveyor 14 is guided by a guide that isprovided on the first supports 21 a, and is movable (liftable) along theZ-direction. For example, the first conveyor 14 moves to a desiredposition in the Z-direction according to a stacking height (conveyanceheight of the object M by the arm device 12) of the objects M on the boxpallet 3. The Z-direction is an example of the “second direction”. TheZ-direction is a direction (for example, substantially orthogonal to aconveyance surface 14 a) that crosses the conveyance surface 14 a of thefirst conveyor 14.

The second conveyor 15 is positioned between the first conveyor 14 andthe input conveyor 4 in the −X-direction. The second conveyor 15 isprovided on the base 11 and is positioned below at least a portion ofthe arm device 12. In addition, the second conveyor 15 may be disposedat a position which is deviated from the lower side of the arm device12. The second conveyor 15 is connected to the base 11 and is supportedby the base 11.

For example, the second conveyor 15 is a belt conveyor. The secondconveyor 15 is disposed toward the input conveyor 4. That is, the secondconveyor 15 has a conveyance surface (upper surface) 15 a which movestoward the input conveyor 4. In the embodiment, the second conveyor 15is positioned on the downstream side of the first conveyor 14. Inaddition, the input conveyor 4 is positioned on the downstream side ofthe second conveyor 15. The second conveyor 15 receives the object M,which is conveyed by the first conveyor 14, from the first conveyor 14,and conveys the object M in the −X-direction. The second conveyor 15 mayhave a width capable of simultaneously conveying the plurality ofobjects M arranged in the Y-direction.

The second conveyor 15 of the embodiment is a lift conveyor which ismovable along the Z-direction. The second conveyor 15 is movable in theZ-direction independently from the first conveyor 14.

For example, the second conveyor 15 is connected to the second supports21 b of the base 11. The second conveyor 15 is guided by a guide whichis provided on the second supports 21 b, and is movable (liftable) alongthe Z-direction. For example, the second conveyor 15 moves to a desiredposition in the Z-direction such that the height of the second conveyor15 is aligned with the height of the first conveyor 14. In addition, thesecond conveyor 15 moves to a desired position in the Z-direction suchthat the height of the second conveyor 15 is aligned with the height ofthe input conveyor 4.

Since the second conveyor 15 is positioned at substantially the sameheight as that of the first conveyor 14, the second conveyor 15 receivesthe object M from the first conveyor 14. In addition, the secondconveyor 15 is positioned at substantially the same height as that ofthe input conveyor 4, and thus, delivers the object M from the secondconveyor 15 to the input conveyor 4. In addition, “the first conveyorand the second conveyor being positioned at substantially the sameheight as each other” referred to in the embodiments means that theconveyance surface (for example, upper surface) of the first conveyorand the conveyance surface (for example, upper surface) of the secondconveyor are positioned at substantially the same height as each other.In addition, “the second conveyor and the input conveyor beingpositioned at substantially the same height as each other” referred toin the embodiments means that the conveyance surface (for example, uppersurface) of the second conveyor and the conveyance surface (for example,upper surface) of the input conveyor are positioned at substantially thesame height as each other.

Moreover, each of the first conveyor 14 and the second conveyor 15 isnot limited to the belt conveyor. Each of the first conveyor 14 and thesecond conveyor 15 is a roller conveyor which is formed of a pluralityof rollers which are actively rotated. In this case, each of theconveyance surfaces 14 a and 15 a referred to in the embodiments means avirtual surface on which the apexes of the upper ends of the pluralityof rollers are connected to each other.

The controller (control circuit) 16 controls the overall operation ofthe transporter 1. That is, the controller 16 controls variousoperations of the arm device 12, the holder 13, the first conveyor 14,and the second conveyor 15. For example, the controller 16 is realizedby the entire portion or a portion of a circuit substrate (controlsubstrate) 23 including a processor such as a Central Processing Unit(CPU). For example, the controller 16 is a software functioner which isrealized by a processor such as a CPU executing a program stored in amemory of the circuit substrate 23. Alternatively, the controller 16 maybe realized by hardware such as a Large Scale Integration (LSI), anApplication Specific Integrated Circuit (ASIC), and a Field-ProgrammableGate Array (FPGA) mounted on the circuit substrate 23.

FIG. 2 shows a part of the system configuration of the transporter 1.

As shown in FIG. 2, the transporter 1 includes a detector 31, a firstconveyor drive mechanism 32, and a second conveyor drive mechanism 33,in addition to the above-described configuration.

The detector 31 detects the presence or absence of the object M on thefirst conveyor 14, and the presence or absence of the object M on thesecond conveyor 15. Specifically, the detector 31 includes a sensor 36and a recognizer 37. For example, the sensor 36 is a camera whichphotographs the first and second conveyors 14 and 15 from above. Inaddition, the sensor 36 may be individually provided on each of thefirst and second conveyors 14 and 15. In addition, the sensor 36 may bea sensor different from the camera. For example, the recognizer(analyzer) 37 is formed of a circuit of a portion of the circuitsubstrate 23. For example, the recognizer 37 is a software functionerwhich is realized by a processor such as a CPU executing a programstored in a memory of the circuit substrate 23. Alternatively, therecognizer 37 may be realized by hardware such as the LSI, the ASIC, andthe FPGA mounted on the circuit substrate 23. The recognizer 37 detectsthe presence or absence of the object M on the first conveyor 14, andthe presence or absence of the object M on the second conveyor 15, basedon data acquired by the sensor 36. The detector 31 delivers thedetection result of the detector 31 to the controller 16. In addition,the recognizer 37 and the controller 16 may be collectively realized soas to form a chip component, or may be individually realized so as toform two or more chip components. In addition, the recognizer 37 is notprovided on the circuit substrate 23, and may be provided inside thesensor 36 as a portion of the sensor 36.

The first conveyor drive mechanism 32 is provided on the base 11, andincludes a motor, a ball screw, or the like which moves the firstconveyor 14 in the Z-direction. The controller 16 controls the firstconveyor drive mechanism 32, and thus, moves the first conveyor 14 to adesired position in the Z-direction.

The second conveyor drive mechanism 33 is provided on the base 11, andincludes a motor, a ball screw, or the like which moves the secondconveyor 15 in the Z-direction. The controller 16 controls the secondconveyor drive mechanism 33, and thus, moves the second conveyor 15 to adesired position in the Z-direction.

Next, a transport method using the transporter 1 of the embodiment willbe described.

FIG. 3 shows an example of the transport method of the transporter 1.

First, as shown in (a) of FIG. 3, the controller 16 controls the armdevice 12, and thus, moves the holder 13 toward the object M loaded onthe box pallet 3. In addition, the controller 16 controls the solenoidvalve of the holder 13, and holds the object M by the holder 13.

In addition, the controller 16 controls the first conveyor drivemechanism 32, and thus, moves the first conveyor 14 in the Z-directionaccording to the stacking height (the conveyance height of the object Mcarried by the arm device 12) of the object M on the box pallet 3. Forexample, the controller 16 moves the first holder 14 to a position whichis slightly lower than the lower surface of the object M held by theholder 13, and causes the first conveyor 14 to be in a standby state. Inaddition, in this case, the second conveyor 15 may be positioned atsubstantially the same height as that of the first conveyor 14, or maybe positioned at the height different from that of the first conveyor14. The “substantially same height as that of the first conveyor” is anexample of a “position at which the first conveyor and the secondconveyor are aligned with each other”.

Next, as shown in (b) of FIG. 3, after the controller 16 moves theobject M on the first conveyor 14, and the controller 16 releases theholding with respect to the object M. Accordingly, the object M carriedby the arm device 12 moves to the first conveyor 14. In addition, inthis case, the second conveyor 15 may be positioned at substantially thesame height as that of the first conveyor 14, or may be positioned atthe height different from that of the first conveyor 14.

Next, as shown in (c) of FIG. 3, the controller 16 controls the secondconveyor drive mechanism 33, and thus, moves the second conveyor 15 tosubstantially the same height as that of the first conveyor 14. Inaddition, the controller 16 controls the first conveyor 14, and thus,conveys the object M loaded on the first conveyor 14 in the −Xdirection. In addition, the conveyance of the object M performed by thefirst conveyor 14 may start before the second conveyor 15 reachessubstantially the same height as that of the first conveyor 14.According to this operation, it is possible to further increase thespeed of the conveyance of the object M. Moreover, the conveyance of theobject M performed by the first conveyor 14 may start after the secondconveyor 15 reaches substantially the same height as that of the firstconveyor 14.

Next, as shown in (d) of FIG. 3, the second conveyor 15 is positioned atsubstantially the same height as that of the first conveyor 14, andthus, the second conveyor 15 receives the object M from the firstconveyor 14. In other words, the second conveyor 15 receives the objectM from the first conveyor 14 at a position (for example, a higherposition or a lower position than that of the input conveyor 4) movingaway from the input conveyor 4. If the object M moves from the firstconveyor 14 to the second conveyor 15, the detector 31 detects theobject M moving to the second conveyor 15. If the object M moving to thesecond conveyor 15 is detected by the detector 31, the controller 16controls the second conveyor drive mechanism 33, and thus, moves thesecond conveyor 15 toward substantially the same height as that of theinput conveyor 4. Accordingly, the second conveyor 15 moves away fromsubstantially the same height as that of the first conveyor 14.

Here, for example, if the object M moves to the second conveyor 15, thecontroller 16 controls the arm device 12, and thus, moves the arm device12 toward the object M which is an object to be conveyed next. That is,in a state where the second conveyor 15 moves away from substantiallythe same height as that of the first conveyor 14, the controller 16moves the arm device 12 toward the next object M. In addition,hereinafter, for convenience of description, the object M which has beenconveyed previously is referred to as a “first object M1”, and theobject M which is conveyed after a first object M1 is referred to as a“second object M2”.

In addition, as shown in (e) of FIG. 3, the controller 16 controls thesecond conveyor 15, and thus, conveys the first object M1 placed on thesecond conveyor 15 in the −X-direction. In addition, the conveyance ofthe object M performed by the second conveyor 15 may be performed beforethe second conveyor 15 reaches substantially the same height as that ofthe input conveyor 4 (for example, while the second conveyor 15 moves inthe Z-direction). According to this operation, it is possible to furtherincrease the speed of the conveyance of the object M. In addition, theconveyance of the object M performed by the second conveyor 15 may startafter the second conveyor 15 reaches substantially the same height asthat of the input conveyor 4.

Here, in the embodiment, in the state where the second conveyor 15 movesaway from substantially the same height as that of the first conveyor14, the controller 16 holds the second object M2 by the holder 13 andtakes out the second object M2 from the box pallet 3. In addition, inthe state where the second conveyor 15 moves away from substantially thesame height as that of the first conveyor 14, the controller 16 controlsthe arm device 12, and thus, carries the second object M2 held by theholder 13 toward the first conveyor 14.

Next, as shown in (f) of FIG. 3, the second conveyor 15 is positioned atsubstantially the same height as that of the input conveyor 4, and thus,delivers the first object M1 from the second conveyor 15 to the inputconveyor 4. If the first object M1 moves from the second conveyor 15 tothe input conveyor 4, the detector 31 detects the first object M1 movingto the input conveyor 4. Moreover, in the embodiment, for example, thecontroller 16 releases the holding of the holder 13 in the state wherethe second conveyor 15 moves away from substantially the same height ofthat of the first conveyor 14, and thus, the controller 16 moves thesecond object M2 to the first conveyor 14.

Next, as shown in (g) of FIG. 3, if the detector 31 detects the firstobject M1 moving to the input conveyor 4, the controller 16 controls thesecond conveyor drive mechanism 33, and thus, moves the second conveyor15 toward substantially the same height as that of the first conveyor14. In addition, the second conveyor 15 is positioned at substantiallythe same height as that of the first conveyor 14, and thus, receives thesecond object M2 from the first conveyor 14.

According to the transporter 1 and the transport method having theabove-described configurations, it is possible to increase the speed ofconveyance. Here, some comparative examples are considered. First, atransporter in which the lift conveyor is not provided is considered. Inthis transporter, in order to reliably retain an object, a size of aretainer mechanism increases. Accordingly, a decrease in the size of thetransporter may be difficult.

Therefore, a transporter in which the lift conveyor which receives theobject carried by the arm device is provided is considered. Since thelift conveyor is provided, it is possible to decrease a time when theobject is retained by the arm device. Accordingly, it is possible tostably convey the object by a relatively small retainer mechanism.

However, in a case where one lift conveyor is provided, until the liftconveyor moves to the height of the input conveyor to deliver the objectto the input conveyor and the lift conveyor is returned to the originalheight after the lift conveyor receives the object carried by the armdevice, in some cases, the next object cannot be taken out by the armdevice. Accordingly, a standby time of the arm device is lengthened, andan increase in speed of the conveyance may be difficult.

Therefore, the transporter 1 of the embodiment includes the firstconveyor 14 and the second conveyor 15. The first conveyor 14 receivesthe object M carried by the arm device 12 and conveys the object M inthe −X-direction. The second conveyor 15 receives the object M from thefirst conveyor 14, conveys the object M, and is movable in theZ-direction that crosses the −X direction.

According to this configuration, the operation of taking the object M bythe arm device 12 and the operation of delivering the object M to theinput conveyor 4 can be performed in parallel (that is, simultaneouslyperformed).

Accordingly, the standby time of the arm device 12 does not exist or canbe shortened. Therefore, it is possible to increase the speed of theconveyance of the object M. Moreover, in the above-describedconfiguration, since the second conveyor 15 is disposed between thefirst conveyor 14 and the input conveyor 4, it is possible to realizethe transporter 1 suitable for miniaturization.

The transport method of the embodiment includes receiving the object M,which has been carried by the arm device 12, by the first conveyor 14and conveying the object M in the −X-direction, receiving the object Mfrom the first conveyor 14 by the second conveyor 15, and moving thesecond conveyor 15 in the Z-direction that crosses the −X-direction.According to this configuration, due to reasons similar to theabove-described those, it is possible to increase the speed of theconveyance of the object M.

In the embodiment, the first conveyor 14 is movable in the Z-direction.The second conveyor 15 is movable in the Z-direction independently fromthe first conveyor 14.

According to this configuration, it is possible to move the firstconveyor 14 to a desired position in the Z direction according to theheight of conveyance of the object M performed by the arm device 12.Accordingly, it is possible to further stabilize the conveyance of theobject M.

In the embodiment, the arm device 12 carries the next object M (secondobject M2) in a state where the second conveyor 15 moves away from theposition of being aligned with the first conveyor 14. According to thisconfiguration, it is possible to further shorten the standby time of thearm device 12.

Second Embodiment

Next, a second embodiment will be described with reference to FIGS. 4and 5.

The embodiment is different from the first embodiment in that theconveyors 14 and 15 have shock absorbers 41. In addition, configurationsexcept for configurations described below are similar to those of thefirst embodiment.

FIGS. 4A and 4B show the transporter 1 of the embodiment. In addition,FIG. 4A is a plan view showing the transporter 1. FIG. 4B is a side viewshowing the transporter 1. In FIG. 4A, for convenience of description,the shock absorbers 41 are hatched.

As shown in FIGS. 4A and 4B, in the embodiment, a portion of each of thefirst and second conveyors 14 and 15 is formed of the shock absorber 41.Specifically, each of the first and second conveyors 14 and 15 includesthe shock absorber (impact-absorption conveyor unit, first conveyorunit) 41, and a general conveyor unit (second conveyor unit) 42. Theshock absorber 41 is provided on a portion including the upstream end ofeach of the first and second conveyors 14 and 15. On the other hand, thegeneral conveyor unit 42 is provided on a portion including thedownstream end of each of the first and second conveyors 14 and 15.

FIG. 5 shows an example of the shock absorber 41.

As shown in FIG. 5, for example, the shock absorber 41 includes aplurality of impact-absorption rollers 44 which are arranged in the−X-direction. Each impact-absorption roller 44 includes a roller (rotor)45 which is actively rotated, and an impact-absorption material 46 whichis attached to the peripheral surface of the roller 45. Theimpact-absorption material 46 is formed of a material having elasticity(cushioning properties). For example, the impact-absorption material 46is sponge. Even in a case where the object M is dropped on theimpact-absorption material 46 at a predetermined height, theimpact-absorption material 46 absorbs the dropping impact and reducesdamages with respect to the object M. For example, the impact-absorptionmaterial 46 is a member which has greater elasticity (that is, softer,and is more easily deformed) than that of the roller 45. In addition, inanother viewpoint, for example, the impact-absorption material 46 is amember which has greater elasticity than that of the surface element ofthe object M. For example, the impact-absorption material 46 is a memberwhich has greater elasticity than that of the general conveyor unit 42(for example, a belt 42 a of the conveyor unit 42). For example, theimpact-absorption material 46 is a member which has greater elasticitythan that of the input conveyor 4 (for example, the belt of the inputconveyor 4).

In addition, the shock absorber 41 is not limited to the configurationwhich includes the plurality of impact-absorption rollers 44. The shockabsorber 41 may be formed of a belt conveyor which is suspended to aplurality of rollers. In the case, for example, the above-describedimpact-absorption material 46 is attached to the surface of the belt ofthe belt conveyor. In this case, the belt of the belt conveyor is anexample of the “rotor”.

The shock absorber 41 relieves an impact of the contact of the object Mwith respect to the first conveyor 14 or the second conveyor 15. Forexample, the shock absorber 41 of the first conveyor 14 absorbs aportion of an impact applied to the object M when the object M carriedby the arm device 12 is placed on the first conveyor 14. In addition,the shock absorber 41 of the second conveyor 15 absorbs a portion of animpact applied to the object M when the object M moves from the firstconveyor 14 to the second conveyor 15. Moreover, the impact-absorptionrollers 44 (or the belt of the belt conveyor) are actively rotated, andthus, the shock absorbers 41 of the first and second conveyors 14 and 15convey the object M in the −X-direction.

As shown in FIGS. 4A and 4B, for example, in the embodiment, the lengthin the −X-direction of the shock absorber 41 is longer than the lengthin the −X-direction of the object M which is an object to be conveyed bythe transporter 1. In addition, the shock absorbers 41 may be providedover the entire length in the −X-direction of the first and secondconveyors 14 and 15.

For example, the shock absorbers 41 are provided over the entire widthof the first and second conveyors 14 and 15 in the Y direction.

On the other hand, the conveyor unit (second conveyor unit) 42 is a beltconveyor similar to each of the conveyors 14 and 15 of the firstembodiment. Moreover, the conveyor unit 42 may be a roller conveyorwhich is formed of a plurality of rollers that are actively rotated.

In the embodiment, a portion of the input conveyor 4 is formed of theshock absorber 41.

Specifically, the input conveyor 4 includes the shock absorber(impact-absorption conveyor unit, first conveyor unit) 41, and thegeneral conveyor unit (second conveyor unit) 42. In the input conveyor4, the shock absorber 41 is provided in a region which is adjacent tothe second conveyor 15 in the +X-direction. Moreover, the details of theshock absorber 41 and the conveyor unit 42 of the input conveyor 4 aresimilar to those of the shock absorber 41 and the conveyor unit 42 ofeach of the first and second conveyors 14 and 15. The shock absorber 41of the input conveyor 4 relieves the impact of the contact of the objectM with respect to the input conveyor 4. That is, the shock absorber 41of the input conveyor 4 absorbs a portion of the impact applied to theobject M when the object M moves from the second conveyor 15 to theinput conveyor 4. Moreover, the impact-absorption rollers 44 (or thebelt of the belt conveyor) are actively rotated, and thus, the shockabsorber 41 of the input conveyor 4 conveys the object M in theY-direction.

Next, a control operation of the controller 16 of the embodiment will bedescribed.

In the embodiment, even in a case where there is a gap (that is, a gapin which the object M is dropped) between the lower surface of theobject M carried by the arm device 12 and the first conveyor 14, if thegap is smaller than a predetermined value which is preset, thecontroller 16 releases the holding of the holder 13 and moves the objectM to the shock absorber 41 of the first conveyor 14.

In addition, even in a case where the heights of the first conveyor 14and the second conveyor 15 are not aligned with each other, if thedifference between the heights of the first conveyor 14 and the secondconveyor 15 is smaller than a predetermined value which is preset, thecontroller 16 drives the first conveyor 14, and thus, moves the object Mfrom the first conveyor 14 to the shock absorber 41 of the secondconveyor 15.

Moreover, even in a case where the heights of the second conveyor 15 andthe input conveyor 4 are not aligned with each other, if the differencebetween the heights of the second conveyor 15 and the input conveyor 4is smaller than a predetermined value which is preset, the controller 16drives the second conveyor 15, and thus, moves the object M from thesecond conveyor 15 to the shock absorber 41 of the input conveyor 4.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance. In addition, thesecond conveyor 15 includes the shock absorber 41 which can relieve theimpact of the contact of the object M with respect to the secondconveyor 15. According to this configuration, even when the heights ofthe first conveyor 14 and the second conveyor 15 are not completelyaligned with each other, it is possible to convey the object M from thefirst conveyor 14 to the second conveyor 15. That is, if the firstconveyor 14 is positioned at a higher position than that of the secondconveyor 15, it is possible to drop the object M from the first conveyor14 to the second conveyor 15 so as to be delivered without anyadjustment with respect to the heights. If it is not necessary tocompletely align the heights of the two conveyors 14 and 15 with eachother, it is possible to decrease distances in lifting and loweringoperations of the conveyors 14 and 15, and it is possible to decreasetimes for the lifting and lowering operations. Therefore, according tothis configuration, it is possible to further increase the speed of theconveyance.

In addition, according to the similar reasons, in a case where the shockabsorber 41 is provided in the first conveyor 14, it is possible to dropthe object M carried by the arm device 12 to the first conveyor 14 so asto be delivered. In addition, in a case where the shock absorber 41 isprovided in the input conveyor 4, it is possible to drop the object Mfrom the second conveyor 15 to the input conveyor 4 so as to bedelivered. Accordingly, it is possible to decrease the distances in thelifting and lowering operations of the conveyors 14 and 15, and it ispossible to further increase the speed of the conveyance.

Moreover, in the embodiment, the holder 13 can simultaneously hold aplurality of objects M.

Here, the holding surface of the holder 13 is a substantially flatsurface. Accordingly, in a case where the plurality of objects M aresimultaneously held by the holder 13, if the heights of the plurality ofobjects M are different from each other, the positions of the lowersurface of the objects M are different from each other. Therefore, ifthe holder 13 releases the holding with respect to the plurality ofobjects M, the object M having a small height is dropped to the firstconveyor 14 at a predetermined height.

However, in the embodiment, the first conveyor 14 has the shock absorber41. Accordingly, it is possible to absorb a portion of the impactapplied to the object M by the shock absorber 41. In other words, sincethe first conveyor 14 has the shock absorber 41, it possible tosimultaneously hold and convey the plurality of objects M having heightsdifferent from each other by the holder 13. Therefore, it is possible tofurther increase the speed of the conveyance.

In the embodiment, each of the first and second conveyors 14 and 15includes the general conveyor unit 42 on the downstream side of theshock absorber 41. If the general conveyor unit 42 is provided,stability in the conveyance of the conveyors 14 and 15 is improved.Therefore, it is possible to increase reliability in the conveyance ofthe transporter 1. Moreover, if the general conveyor unit 42 isprovided, compared to a case where the entire portion of each of theconveyors 14 and 15 is formed of the shock absorber 41, it is possibleto reduce the costs of the conveyors 14 and 15.

In addition, it is not necessary to provide the shock absorber 41 to allof the first conveyor 14, the second conveyor 15, and the input conveyor4. The shock absorber 41 may be provided on any one or two of the firstconveyor 14, the second conveyor 15, and the input conveyor 4.

Third Embodiment

Next, a third embodiment will be described with reference to FIGS. 6Aand 6B.

The embodiment is different from the first embodiment in that extensiblemembers 51 and 52 are provided among the conveyors 14, 15, and 4. Inaddition, configurations except for configurations described below aresimilar to those of the first embodiment.

FIGS. 6A and 6B show the transporter 1 of the embodiment. In addition,FIG. 6A shows the first conveyor 14 positioned below the second conveyor15. Moreover, FIG. 6B shows the first conveyor 14 positioned above thesecond conveyor 15.

As shown in FIGS. 6A and 6B, the transporter 1 includes the first andsecond extensible members 51 and 52.

The first extensible member (first extensible connection plate) 51 isprovided between the downstream end of the first conveyor 14 and theupstream end of the second conveyor 15. The first extensible member 51is connected to each of the downstream end of the first conveyor 14 andthe upstream end of the second conveyor 15. In addition, for example,“being connected to the end of the conveyor” referred to in theembodiments includes a case where a belt is connected to the conveyorvia a support which is provided at a position deviated from the end ofthe conveyor, or the like. In addition, the connection structures of theextensible members 51 and 52 with respect to the ends of the conveyors14 and 15 are not limited to the example.

Specifically, the first extensible member 51 includes a first member 53and a second member 54. For example, widths in the first member 53 andthe second member 54 in the Y-direction are substantially the same asthe widths of the first conveyor 14 and the second conveyor 15 in theY-direction.

The first member (first slide member, first plate) 53 is connected tothe downstream end of the first conveyor 14, and is slidable withrespect to the first conveyor 14 in the Z-direction.

In addition, in a case where the first conveyor 14 is lifted, the upperend of the first member 53 engages with the first conveyor 14 and islifted by the first conveyor 14. The lower end of the first member 53 isrestrained from moving below the lower end of the second member 54 by astopper (not shown).

The second member (second slide member, second plate) 54 is connected tothe upper end of the second conveyor 15 and is slidable with respect tothe second conveyor 15 in the Z-direction.

In addition, the upper end of the second member 54 is restrained frommoving below the second conveyor 15 by a stopper (not shown). The upperend of the second member 54 is connected to the first member 53 and isslidable with respect to the first member 53 in the Z-direction. In acase where the first member 53 is lifted, the upper end of the secondmember 54 engaged with the first member 53 and is lifted by the firstmember 53. The lower end of the second member 54 is restrained frommoving above the second conveyor 15 by a stopper (not shown). Inaddition, the first extensible member 51 may be configured of three ormore members instead of the two members 53 and 54.

According to this configuration, as shown in FIG. 6A, in the case wherethe second conveyor 15 is positioned above the first conveyor 14, thefirst extensible member 51 protrudes upward from the conveyance surface14 a of the first conveyor 14 so as to align the height of the secondconveyor 15. If the first extensible member 51 protrudes upward from theconveyance surface 14 a of the first conveyor 14, the first extensiblemember 51 restrains the movement of the object M, which is placed on thefirst conveyor 14, in the −X-direction.

On the other hand, as shown in FIG. 6B, in a case where the secondconveyor 15 moves downward from the first conveyor 14, the firstextensible member 51 is extends between the first conveyor 14 and thesecond conveyor 15. Accordingly, the first extensible member 51 blocksat least a portion of the gap between the first conveyor 14 and thesecond conveyor 15.

The second extensible member (second extensible connection plate) 52 isprovided between the downstream end of the second conveyor 15 and theupstream end of the input conveyor 4. The second extensible member 52 isconnected to each of the downstream end of the second conveyor 15 andthe upstream end of the input conveyor 4. The second extensible member52 includes a first member 53 and a second member 54. In addition, thedetails of the second extensible member 52 are substantially the same asthose of the first extensible member 51. That is, with respect to thedescriptions of the first extensible member 51, in descriptions of thesecond extensible member 52, the “first extensible member 51” may bereplaced with the “second extensible member 52”, the “first conveyor 14”may be replaced with the “second conveyor 15”, the “conveyance surface14 a” may be replaced with the “conveyance surface 15 a”, and the“second conveyor 15” may be replaced with the “input conveyor 4”.

Similarly to the first embodiment, according to this configuration, itis possible to increase the speed of the conveyance. Moreover, in theembodiment, the transporter 1 includes the first extensible member 51which is provided between the first conveyor 14 and the second conveyor15 and extends between the first conveyor 14 and the second conveyor 15in the case where the first conveyor 14 moves in the direction of movingaway from the second conveyor 15. According to this configuration, in acase where the first conveyor 14 is positioned above the second conveyor15, it is possible to prevent the object M from being dropped from thegap between the first conveyor 14 and the second conveyor 15. In otherwords, since it is possible to prevent the object M from being droppedby the first extensible member 51, it is possible to move the object Mfrom the conveyor 14 to the second conveyor 15 even when the heights ofthe first conveyor 14 and the second conveyor 15 are not completelyaligned with each other. Accordingly, it is possible to further increasethe speed of the conveyance. In addition, for example, in the case wherethe first conveyor 14 is positioned at a higher position than that ofthe second conveyor 15, since the object M slides along the surface ofthe first extensible member 51, it is possible to deliver the object Mfrom the first conveyor 14 to the second conveyor 15. In this viewpoint,it is possible to further increase the speed of the conveyance. This issimilarly applied to the case where the second extensible member 52 isprovided between the second conveyor 15 and the input conveyor 4.

Here, time may be relatively required to perform stopping, acceleration,or deceleration of the conveyors 14 and 15.

Accordingly, if the stopping, acceleration, or deceleration of theconveyors 14 and 15 is frequently repeated, conveyance of the object Mmay be delayed. On the other hand, if the upstream conveyors 14 and 15are always rotated in a state where the upstream conveyors 14 and 15 arepositioned below the downstream conveyors 15 and 4, the object Mconveyed to the upstream conveyors 14 and 15 may come into contact withthe downstream conveyors 15 and 4 during the rotation of the object M.In this case, the object M is likely to be dropped from the transporter1.

Accordingly, in the embodiment, the transporter 1 includes the member(first extensible member 51) which is provided between the firstconveyor 14 and the second conveyor 15 and protrudes upward from theconveyance surface 14 a of the first conveyor 14 in the case where thefirst conveyor 14 is positioned below the second conveyor 15. Accordingto this configuration, the downstream movement of the object M, whichmoves on the first conveyor 14, is restrained by the extensible member51. In other words, the object M is not likely to be dropped from thetransporter 1, and thus, it is possible to continuously rotate the firstconveyor 14. Accordingly, it is possible to prevent frequent stoppage,acceleration, or deceleration of the first conveyor 14. Therefore, it ispossible to further increase the speed of the conveyance. In addition,if the heights of the first conveyor 14 and the second conveyor 15 arealigned with each other, the extensible member 51 moves below theconveyance surface 14 a of the first conveyor 14. Accordingly, theobject M which has been stopped by the extensible member 51 isautomatically delivered to the downstream side. This is similarlyapplied to the case where the second extensible member 52 is providedbetween the second conveyor 15 and the input conveyor 4. In addition,the transporter 1 may have any one of the first extensible member 51 andthe second extensible member 52.

Fourth Embodiment

Next, a fourth embodiment will be described with reference to FIGS. 7Aand 7B.

The embodiment is different from the first embodiment in that rotators61 which incline the conveyors 14 and 15 are provided. In addition,configurations except for configurations described below are similar tothose of the first embodiment.

FIGS. 7A and 7B show the transporter 1 of the embodiment. In addition,FIG. 7A shows the first and second conveyors 14 and 15 positionedsubstantially horizontally. FIG. 7B shows the first and second conveyors14 and 15 inclined with respect to the horizontal direction.

As shown in FIGS. 7A and 7B, in the embodiment, each of the first andsecond conveyors 14 and 15 includes the rotator (conveyor inclinationmechanism) 61 which actively inclines the entirety of each of theconveyors 14 and 15 with respect to the horizontal direction. Forexample, the rotator 61 includes a support in which the posture of thesupport is fixed with respect to each of the supports 21 a and 21 b, anda rotor which is supported by the support and is rotated around thesupport.

Next, a control operation of the controller 16 of the embodiment will bedescribed.

In a case where the second conveyor 15 moves to substantially the sameheight as that of the first conveyor 14, the controller 16 of theembodiment controls the rotator 61 of the first conveyor 14 so as toincline the first conveyor 14. Specifically, the controller 16 inclinesthe first conveyor 14 in a direction which the downstream end of thefirst conveyor 14 approaches the second conveyor 15. In addition, in thecase where the second conveyor 15 moves to substantially the same heightas that of the first conveyor 14, the controller 16 controls the rotator61 of the second conveyor 15 so as to incline the second conveyor 15.Specifically, the controller 16 inclines the second conveyor 15 in adirection which the upstream end of the second conveyor 15 approachesthe first conveyor 14. For example, the controller 16 inclines the firstand second conveyors 14 and 15 such that the inclination angle of thefirst conveyor 14 (for example, the inclination angle of the conveyancesurface 14 a) and the inclination angle (for example, the inclinationangle of the conveyance angle 15 a) of the second conveyor 15 aresubstantially the same as each other. For example, the controller 16inclines the first and second conveyors 14 and 15 such that theconveyance surface 14 a of the first conveyor 14 is positioned onsubstantially the same flat surface as the conveyance surface 15 a ofthe second conveyor 15 or is positioned slightly above the conveyancesurface 15 a of the second conveyor 15.

In addition, from another viewpoint, in a case where the second conveyor15 moves to substantially the same height as that of the input conveyor4, the controller 16 controls the rotator 61 of the second conveyor 15so as to incline the second conveyor 15. Specifically, the controller 16inclines the second conveyor 15 in a direction in which the downstreamend of the second conveyor 15 approaches the input conveyor 4.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance. Moreover, in theembodiment, each of the first and second conveyors 14 and 15 has therotator 61 which inclines each of the first and second conveyors 14 and15 with respect to the horizontal direction. According to thisconfiguration, compared to the case where the heights of the first andsecond conveyors 14 and 15 are aligned with each other by only thelifting and lowering operations, it is possible to align the heightsthereof with each other at a higher speed. Accordingly, it is possibleto further increase the speed of the conveyance. In addition, in thetransporter 1, any one of the first and second conveyors 14 and 15 mayhave the rotator 61.

Fifth Embodiment

Next, a fifth embodiment will be described with reference to FIGS. 8 to10.

The embodiment is different from the first embodiment in thatrestrainers 71 which restrain the movement of the object M are provided.Moreover, configurations except for configurations described below aresimilar to those of the first embodiment.

FIGS. 8A and 8B show the transporter 1 of the embodiment. In addition,FIG. 8A is a plan view showing the transporter 1. Moreover, FIG. 8B is aside view showing the transporter 1. In the drawings with respect to thefollowing embodiments including the embodiment, for convenience ofdescription, the arm device 12 or the holder 13 may not be shown.

As shown in FIGS. 8A and 8B, in the embodiment, the transporter 1includes the restrainers 71. Each of the restrainers 71 is provided onthe downstream end of each of the first and second conveyors 14 and 15.In addition, for example, “being provided to the end of the conveyor”referred to in the embodiments includes a case where a belt is providedto the conveyor via a support which is provided at a position deviatedfrom the end of the conveyor, or the like. In addition, the attachmentstructures of the restrainers 71 with respect to the ends of theconveyors 14 and 15 are not limited to the above-described example.

Moreover, in other expressions, the restrainers 71 are provided alongthe downstream ends of the first and second conveyors 14 and 15.

Each of the restrainers 71 is a buffer mechanism which restrains themovement (passage of the object M) of the object M and retains theobject M in the conveyors 14 and 15. For example, the restrainers 71 canretain the object M in the conveyors 14 and 15 in a state where theconveyors 14 and 15 are always rotated.

In the embodiment, each of the restrainers 71 includes a plurality ofrestraint members (active claws) 72 which are arranged along thedownstream end of each of the first and second conveyors 14 and 15. Eachof the plurality of restraint members 72 is movable between a releaseposition (first position) at which each restraint member 72 ispositioned below the conveyance surfaces 14 a and 15 a of the conveyors14 and 15 and allows the passage of the object M and a restraintposition (second position) at which each restraint member 72 protrudesupward from the conveyance surfaces 14 a and 15 a and restrains themovement of the object M. Each of the plurality of restraint members 72can restrain the movement of the object M which faces each restraintmember 72. In addition, the plurality of restraint members 72 can becontrolled independently from each other by the controller 16. That is,the plurality of restraint members 72 are individually moved between therelease position and the restraint position.

As shown in FIGS. 8A and 8B, the detector 31 of the embodiment includesfirst to third detectors 31 a, 31 b, and 31 c. The first detector 31 adetects the position of the object M on the first conveyor 14.

The second detector 31 b detects the position of the object M on thesecond conveyor 15. The third detector 31 c detects the position of theobject M on the input conveyor 4. For example, each of the first tothird detectors 31 a, 31 b, and 31 c is realized by the above-describedsensor (for example, camera) 36 and recognizer 37. In addition, in FIGS.8A and 8B, the first to third detectors 31 a, 31 b, and 31 c areschematically shown so as to be associated with the conveyors 14, 15,and 4. The detection results of the first to third detectors 31 a, 31 b,and 31 c are sent to the controller 16. The controller 16 individuallycontrols the plurality of restraint members 72 of the first and secondconveyors 14 and 15, based on the detection results of the first tothird detectors 31 a, 31 b, and 31 c.

Next, the control operation of the controller 16 of the embodiment willbe described.

As shown in FIGS. 8A and 8B, the controller 16 moves the restraintmembers 72 of the first conveyor 14 to the restraint positions, andthus, collects the plurality of objects M on the first conveyor 14.While the controller 16 collects the plurality of objects M on the firstconveyor 14, the controller 16 moves the second conveyor 15 tosubstantially the same height as that of the input conveyor 4 anddelivers the object M from the second conveyor 15 to the input conveyor4. Thereafter, the controller 16 returns the second conveyor 15 tosubstantially the same height as that of the first conveyor 14. In thestate where the second conveyor 15 is returned to substantially the sameheight as that of the first conveyor 14, the controller 16 moves theplurality of restraint members 72 of the first conveyor 14 to therelease positions all at once. Accordingly, the plurality of objects M,which are collected on the first conveyor 14 by the restraint members72, move to the second conveyor 15 all at once.

FIGS. 9A and 9B show an example of the operation of the transporter 1 ofthe embodiment. In addition, FIG. 9A is a plan view showing thetransporter 1. FIG. 9B is a side view showing the transporter 1.

As shown in FIGS. 9A and 9B, the controller 16 individually operates therestraint members 72 of the first conveyor 14 corresponding to theunoccupied locations of the second conveyor 15 based on the detectionresults of the above-described first and second detectors 31 a and 31 bsuch that the unoccupied locations of the second conveyor 15 areappropriately occupied by the objects M. Specifically, the controller 16positions the restraint members 72 of the first conveyor 14corresponding to the unoccupied locations of the second conveyor 15 atthe release positions. In addition, the controller 16 positions otherrestraint members 72 of the first and second conveyors 14 and 15 at therestraint positions. Moreover, the controller 16 rotates the firstconveyor 14 and the second conveyor 15. Accordingly, the objects M aredelivered to the unoccupied locations of the second conveyor 15.Moreover, the “restraint members corresponding to the unoccupiedlocations of the second conveyor” mean the restraint members which arepositioned on the upstream side in the conveyance direction (forexample, −X-direction) of the object M with respect to the unoccupiedlocations of the second conveyor.

Next, the movement of the object M from the second conveyor 15 to theinput conveyor 4 will be described.

In the embodiment, as shown in FIGS. 8A and 8B, the controller 16 movesthe restraint members 72 of the second conveyor 15 to the restraintpositions, and the plurality of objects M are collected on the secondconveyor 15. In the state where the plurality of objects M are collectedon the second conveyor 15, the controller 16 moves the second conveyor15 to substantially the same height as that of the input conveyor 4.

FIG. 10 shows an example of the conveyance of the object M from thesecond conveyor 15 to the input conveyor 4. In addition, in FIG. 10, forconvenience of description, the restraint members 72 which have beenmoved to the release positions are not shown.

As shown in FIG. 10, the controller 16 separates the objects M which aredensely collected on the second conveyor 15, and delivers the objects Mto the input conveyor 4. Specifically, among the plurality of restraintmembers 72 of the second conveyor 15, first, the controller 16 moves onerestraint member 72 (hereinafter, referred to as a restraint member 72A)to the release position. Accordingly, the object M which is restrainedby the restraint member 72A moves away from the adjacent object M in theY-direction and is delivered to the input conveyor 4. In addition, ifone object M passes the restraint member 72A, the controller 16 movesthe restraint member 72A to the restraint position again. Accordingly,the subsequent object M is temporarily stopped, and the movement of thesubsequent object M is delayed. As a result, the gaps between theplurality of objects M arranged in the −X-direction increase. Byrepeating this, the objects M which are in close contact with each otherin the −X-direction move away from each other. Instead of this, afterone object M passes the restraint member 72A, the controller 16temporarily decreases the conveyance speed (for example, a belt speed)of the second conveyor 15, and thus, the subsequent object M is delayed,and the gaps between the plurality of objects M arranged in the−X-direction may increase.

After all the objects M which have been restrained by the restraintmember 72A are conveyed to the input conveyor 4, the controller 16performs the above-described operation on other restraint members 72.Accordingly, the objects M which are in close contact with each other inthe −X-direction and the Y-direction move away from each other, and aredelivered from the second conveyor 15 to the input conveyor 4.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance. In addition, in theembodiment, the transporter 1 includes the restrainer 71 which canrestrain the movement of the object M. The restrainer 71 is provided onthe downstream end of the first conveyor 14 and can restrain themovement of the object M. According to this configuration, it ispossible to collect the plurality of objects M on the first conveyor 14.Accordingly, it is possible to move the plurality of objects M from thefirst conveyor 14 to the second conveyor 15 all at once. Therefore, forexample, it is possible to decrease the number of times of movement ofthe second conveyor 15 moving toward the input conveyor 4, and it ispossible to further increase the speed of the conveyance.

In the embodiment, the restrainer 71 includes the plurality of restraintmembers 72 which can restrain the movement of the object M. Theplurality of restraint members 72 can be controlled independently fromeach other. According to this configuration, it is possible to deliverthe object M to the unoccupied locations of the second conveyor 15.Therefore, it is possible to increase the number of the objects M whichare carried by the second conveyor 15 all at once. Accordingly, it ispossible to decrease the number of times of movement of the secondconveyor 15 moving toward the input conveyor 4, and it is possible tofurther increase the speed of the conveyance.

In the embodiment, the transporter 1 includes the restrainer 71 which isprovided on the downstream end of the second conveyor 15. According tothis configuration, in a case where other objects M flow from theupstream side of the input conveyor 4, the objects M are taken out whileinput of the object M with respect to the input conveyor 4 is stopped,and it is possible to collect the objects M on at least one of the firstconveyor 14 and the second conveyor 15. Therefore, it is possible tofurther increase the speed of the conveyance.

In addition, if the restrainer 71 is provided on the downstream end ofthe second conveyor 15, it is possible to separate the plurality ofobjects M arranged in the −X-direction by operating the restrainer 71and input the objects M to the input conveyor 4.

In the embodiment, the restrainer 71 of the second conveyor 15 includesthe plurality of restraint members 72 which can restrain the movement ofthe object M. The plurality of restraint members 72 can be controlledindependently from each other. According to this configuration, sincethe plurality of restraint members 72 are individually controlled, it ispossible to separate the plurality of objects M arranged in theY-direction and cause the objects M to flow to the input conveyor 4.

In addition, in the transporter 1, the restrainer 71 may be provided onany one of the first and second conveyors 14 and 15.

Sixth Embodiment

Next, a sixth embodiment will be described with reference to FIGS. 11 to12.

The embodiment is different from the first embodiment in that aseparation mechanism 81 which separates the plurality of objects M fromeach other is provided. In addition, configurations except forconfigurations described below are similar to those of the firstembodiment.

FIGS. 11A to 11C show the transporter 1 of the embodiment.

As shown in FIGS. 11A to 11C, the second conveyor 15 of the embodimentincludes the separation mechanism 81 which separates the plurality ofobjects M from each other. The separation mechanism 81 is provided onthe downstream end of the second conveyor 15. In other words, the secondconveyor 15 includes a general conveyor unit 85 and the separationmechanism 81 which is provided on the downstream side of the conveyorunit 85. The conveyor unit 85 receives the object M from the firstconveyor 14 and conveys the object M in the −X-direction. For example,the conveyor unit 85 has substantially the same configuration as that ofthe second conveyor 15 of the first embodiment. The general conveyorunit 85 is an example of the “transport unit”, and is an example of“other portions which convey the object on the second conveyor”. Inaddition, in other expressions, the separation mechanism 81 is providedalong the downstream end of the second conveyor 15.

As shown in FIGS. 11A to 11C, the separation mechanism 81 of theembodiment includes a plurality of separators 82 which are provided soas to move away from each other in the Y-direction.

FIG. 12 shows an example of the separator 82.

As shown in FIG. 12, each separator 82 includes a plurality of rollers(terminal rollers) 83 which are actively rotated. In addition, thenumber of the rollers 83 included in each separator 82 may be one. Inthe embodiment, the plurality of rollers 83 are arranged in the−X-direction. The plurality of rollers 83 are rotated and stoppedindependently from the conveyor unit 85 by the controller 16. Theplurality of roller 83 can rotate at a speed different from that of theconveyor unit 85. For example, the plurality of rollers 83 are rotatedat a faster speed than that of the conveyor unit 85. In addition, theplurality of separators 82 adjacent to each other in the Y-direction canrotate at speeds different from each other.

Next, the control operation of the controller 16 of the embodiment willbe described.

As shown in FIG. 11B, in a case where the plurality of objects M whichare in close contact with each other in the −X-direction move away fromeach other, the controller 16 causes the rotating speeds (conveyancespeed) of the rollers 83 of the separators 82 to be faster than therotating speed (conveyance speed) of the general conveyor unit 85.Accordingly, the preceding object M is accelerated at the moment theobject M is placed on the separator 82, and the preceding object M movesaway from the subsequent object M. Accordingly, the plurality of objectsM, which are in close contact with each other in the −X-direction, moveaway from each other.

Moreover, as shown in FIG. 11C, in a case where the plurality of objectsM which are in close contact with each other in the Y-direction moveaway from each other, the controller 16 sets the speeds of twoseparators 82 adjacent to each other in the Y-direction to speedsdifferent from each other. Accordingly, the objects M arranged in theY-direction are deviated from each other, and are delivered to the inputconveyor 4.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance. In addition, in theembodiment, the second conveyor 15 includes the rollers 83 which areprovided on the downstream end of the second conveyor 15 and can conveythe object M at a speed different from those of other portions (forexample, conveyor unit 85) which convey the object M on the secondconveyor 15. According to this configuration, it is possible to separatethe plurality of objects M, which are in close contact with each otherin the −X-direction, from each other, and input the objects M to theinput conveyor 4. In addition, according to this configuration, it ispossible to separate the plurality of objects M which are in closecontact with each other from each other without vertically moving therestraint members 72 or without temporarily decreasing the belt speed ofthe second conveyor 15.

Accordingly, it is possible to further increase the speed of theconveyance.

In addition, the separation mechanism 81 may be provided so as to moveaway from the second conveyor 15. In this case, the separation mechanism81 is disposed between the second conveyor 15 and the input conveyor 4.In this case, the separation mechanism 81 is provided along the end ofthe second conveyor 15. In this case, the rollers 83 of the separationmechanism 81 can convey the object M at a speed (for example, a fasterspeed than that of the second conveyor 15) different from that of thesecond conveyor 15.

Seventh Embodiment

Next, a seventh embodiment will be described with reference to FIG. 13.

The embodiment is different from the sixth embodiment in that theseparation mechanism 81 is provided in the first conveyor 14. Inaddition, configurations except for configurations described below aresimilar to those of the sixth embodiment.

As shown in FIG. 13, the first conveyor 14 of the embodiment includesthe separation mechanism 81 which is provided on the downstream end ofthe first conveyor 14. In other words, the first conveyor 14 includesthe general conveyor unit 85 and the separation mechanism 81 which isprovided on the downstream side of the conveyor unit 85. The conveyorunit 85 of the first conveyor 14 receives the object M carried by thearm device 12 and conveys the object M in the −X-direction. For example,the conveyor unit 85 of the first conveyor 14 has substantially the sameconfiguration as that of the first conveyor 14 of the first embodiment.The general conveyor unit 85 is an example of the “transport unit”, andis an example of “other portions which convey the object on the firstconveyor”. In addition, in other expressions, the separation mechanism81 is provided along the downstream ends of the first conveyor 14. Inaddition, the configuration and function of the separation mechanism 81of the first conveyor 14 are substantially the same as the configurationand function of the separation mechanism 81 described in the sixthembodiment. That is, the separation mechanism 81 of the first conveyor14 can convey the object M at a speed (for example, a faster speed)different from that of the conveyor unit 85 of the first conveyor 14.

Similarly to the fifth embodiment, the detector 31 of the embodimentincludes the first to third detectors 31 a, 31 b, and 31 c. In addition,in FIG. 13, the first to third detectors 31 a, 31 b, and 31 c areschematically shown so as to be associated with the conveyors 14, 15,and 4. The detection results of the first to third detectors 31 a, 31 b,and 31 c are sent to the controller 16. The controller 16 individuallycontrols the plurality of separators 82 provided on the end of the firstconveyor 14 and the plurality of separators 82 provided on the end ofthe second conveyor 15, based on the detection results of the first tothird detectors 31 a, 31 b, and 31 c.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance. In addition, in theembodiment, the transporter 1 includes the separation mechanism 81 onthe downstream end of the first conveyor 14 in addition to thedownstream end of the second conveyor 15. According to thisconfiguration, it is possible to increase the speed of the separationfunction due to the plurality of separation mechanism 81. Therefore, itis possible to process more objects M at a high speed.

Moreover, the separation mechanism 81 provided on the downstream end ofthe first conveyor 14 may be provided so as to move away from the firstconveyor 14. In this case, the separation mechanism 81 is disposedbetween the first conveyor 14 and the second conveyor 15. In this case,the separation mechanism 81 is provided along the end of the firstconveyor 14. In this case, the rollers 83 of the separation mechanism 81can convey the object M at a speed (for example, a faster speed thanthat of the first conveyor 14) different from that of the first conveyor14.

Eighth Embodiment

Next, an eighth embodiment will be described with reference to FIGS. 14Aand 14B.

In the embodiment, the movement direction of the second conveyor 15 isdifferent from that of the first embodiment. In addition, configurationsexcept for configurations described below are similar to those of thefirst embodiment.

As shown in FIGS. 14A and 14B, in the embodiment, the first conveyor 14receives the object M carried by the arm device 12, and conveys theobject M in the −X-direction. The second conveyor 15 receives the objectM from the first conveyor 14 and conveys the object M in the−X-direction. In addition, the second conveyor 15 is movable in theY-direction by the second conveyor drive mechanism 33. That is, thesecond conveyor 15 is substantially horizontally movable. In theembodiment, the −X-direction is an example of the “first direction”. TheY-direction is an example of the “second direction”.

According to this configuration, similarly to the first embodiment, itis possible to increase the speed of the conveyance.

Reference Embodiment

Next, a reference embodiment will be described with reference to FIGS.15A and 15B.

In the reference embodiment, the arrangement position of the secondconveyor 15 is different from that of the first embodiment. In addition,configurations except for configurations described below are similar tothose of the first embodiment.

As shown in FIGS. 15A and 15B, in the embodiment, the first and secondconveyors 14 and 15 are arranged in the Y-direction.

The first conveyor 14 receives the object M carried by the arm device 12and conveys the object M in the −X-direction. The first conveyor 14directly delivers the conveyed object M to the input conveyor 4.Similarly, the second conveyor 15 receives the object M carried by thearm device 12 and conveys the object M in the −X-direction. The secondconveyor 15 directly delivers the conveyed object M to the inputconveyor 4. In other words, the first and second conveyors 14 and 15have substantially the same configuration and function as each other.

In the embodiment, the controller 16 controls the position of the armdevice 12 in the Y-direction, and alternately places the objects M,which are sequentially taken out from the box pallet 3, on the firstconveyor 14 and the second conveyor 15. In addition, in a case where theobject M carried by the arm device 12 is placed on the first conveyor14, the controller 16 moves the first conveyor 14 toward the inputconveyor 4. In this case, the controller 16 causes the second conveyor15 to be in a standby state at a height at which the second conveyor 15can receive the subsequent object M from the arm device 12. The secondconveyor 15 receives the object M from the arm device 12 while the firstconveyor 14 moves to the vicinity of the input conveyor 4. If the firstconveyor 14 delivers the object M to the input conveyor 4, thecontroller 16 returns the first conveyor 14 to the height at which thefirst conveyor 14 can receive the object M from the arm device 12.

Similarly, in a case where the object M carried by the arm device 12 isplaced on the second conveyor 15, the controller 16 moves the secondconveyor 14 toward the input conveyor 4. In this case, the controller 16causes the first conveyor 15 to be in a standby state at a height atwhich the first conveyor 14 can receive the subsequent object M from thearm device 12. The first conveyor 14 receives the object M from the armdevice 12 while the second conveyor 15 moves to the vicinity of theinput conveyor 4. If the second conveyor 15 delivers the object M to theinput conveyor 4, the controller 16 returns the second conveyor 15 tothe height at which the second conveyor 15 can receive the object M fromthe arm device 12.

According to this configuration, since the objects M are alternatelyplaced on the two conveyors 14 and 15, similarly to the firstembodiment, the standby time of the arm device 12 does not exist or canbe shortened. Accordingly, it is possible to increase the speed of theconveyance. In addition, since the two conveyors 14 and 15 are arrangedin the Y-direction, it is possible to decrease the size of thetransporter 1 in the −X-direction.

Hereinbefore, some embodiments and the reference embodiment aredescribed. However, the transporters and the transport methods accordingto the embodiments and reference embodiment are not limited to theexamples.

For example, in the above-described embodiments, the first conveyor 14is in a standby state at the height at which the first conveyor 14receives the object M from the arm device 12. Instead of this, the firstconveyor 14 may move in the Z-direction. For example, in a case where aheight difference between the input conveyor 4 and the first conveyor 14is large, after the first conveyor 14 receives the object M from the armdevice 12, the first conveyor 14 may move to the vicinity of the inputconveyor 4. Accordingly, it is possible to decrease the movement of thesecond conveyor 15, and it is possible to further increase the speed ofthe conveyance.

In addition, in the above-described embodiments, the conveyancedirection of the first conveyor 14 and the conveyance direction of thesecond conveyor 15 are the same as each other. Instead of this, theconveyance direction of the second conveyor 15 may be different from theconveyance direction of the first conveyor 14. For example, theconveyance direction of the first conveyor 14 is the −X-direction, andthe conveyance direction of the second conveyor 15 is the Y-direction.

In addition, the position of the first conveyor 14 may be fixed. Thatis, the first conveyor 14 may not move in the Z-direction.

According to at least one of the above-described embodiments, thetransporter includes the first conveyor and the second conveyor. Thefirst conveyor receives the object carried by the arm device and conveysthe object in the first direction. The second conveyor receives theobject from the first conveyor so as to convey the object, and ismovable in the second direction that crosses the first direction.According to this configuration, it is possible to increase the speed ofthe conveyance.

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the inventions.

What is claimed is:
 1. A transporter comprising: an arm device; a firstconveyor to receive an object that is carried by the arm device, thefirst conveyor to convey the object in a first direction; and a secondconveyor to receive the object from the first conveyor and to convey theobject, the second conveyor being movable in position in a seconddirection that crosses the first direction, the second direction being asubstantially vertical direction.
 2. The transporter according to claim1, wherein the first conveyor is movable in the second direction, andwherein the second conveyor is movable in the second directionindependently from the first conveyor.
 3. The transporter according toclaim 1, wherein the arm device is configured to carry next object in astate where the second conveyor moves away from a position at which thesecond conveyor is aligned with the first conveyor.
 4. The transporteraccording to claim 1, wherein at least one of the first conveyor and thesecond conveyor comprises a shock absorber configured to relieve animpact that occurs when the object comes into contact with the firstconveyor or the second conveyor.
 5. The transporter according to claim1, wherein at least one of the first conveyor and the second conveyorcomprises a restrainer that is provided on a downstream end in anobject-conveyance direction on the first conveyor or the second conveyorand is configured to restrain movement of the object.
 6. The transporteraccording to claim 1, wherein the second conveyor comprises a rollerthat is provided on a downstream end in an object-conveyance directionon the second conveyor and is configured to convey the object at a speeddifferent from those of other portions conveying the object in thesecond conveyor.
 7. A transport method, comprising: receiving an objectfrom an arm device by a first conveyor and conveying the object in afirst direction; receiving the object from the first conveyor by asecond conveyor; and moving the second conveyor in a second directionthat crosses the first direction, the second direction being asubstantially vertical direction.
 8. A transporter comprising: an armdevice; a first conveyor to receive an object that is carried by the armdevice, the first conveyor to convey the object in a first direction; asecond conveyor to receive the object from the first conveyor and toconvey the object, the second conveyor being movable in position in asecond direction that crosses the first direction; and an extensiblemember that is provided between the first conveyor and the secondconveyor, and extends between the first conveyor and the second conveyorin a case that the second conveyor moves in a direction of moving awayfrom the first conveyor.
 9. A transporter comprising: an arm device; afirst conveyor to receive an object that is carried by the arm device,the first conveyor to convey the object in a first direction; and asecond conveyor to receive the object from the first conveyor and toconvey the object, the second conveyor being movable in position in asecond direction that crosses the first direction, wherein at least oneof the first conveyor and the second conveyor comprises a rotator thatis configured to cause the first conveyor or the second conveyor to beinclined in a horizontal direction.
 10. A transporter comprising: an armdevice that includes a holder, the arm device being configured to movethe holder toward a first placement section outside the transporter, thearm device being configured to cause the holder to hold an object placedon the first placement section outside the transporter; a first conveyorto receive the object that is carried by the arm device, the firstconveyor to convey the object in a first direction; and a secondconveyor to receive the object from the first conveyor and to convey theobject, the second conveyor being movable in position in a seconddirection that crosses the first direction.
 11. The transporteraccording to claim 10, wherein the second conveyor delivers the objectto a second placement section outside the transporter.